Merge pull request jsk-ros-pkg#28 from s-noda/baxter-interface

add baxter-interface.l, validated with 73B2 baxter

jsk_baxter_robot/baxtereus/baxter-interface.l

@@ -0,0 +1,39 @@
+(load "package://pr2eus/robot-interface.l")
+(require :baxter "package://baxtereus//baxter.l")
+(ros::load-ros-manifest "control_msgs")
+
+(defclass baxter-interface
+  :super robot-interface
+  :slots ())
+(defmethod baxter-interface
+  (:init (&rest args)
+   (prog1 (send-super :init :robot baxter-robot :joint-states-topic "/robot/joint_states")
+     (send self :add-controller :larm-controller)
+     (send self :add-controller :rarm-controller)
+     ))
+  (:default-controller ()
+   (append
+    (send self :larm-controller)
+    (send self :rarm-controller)))
+  (:larm-controller ()
+   (list
+    (list
+     (cons :controller-action "/robot/limb/left/follow_joint_trajectory")
+     (cons :controller-state "/robot/limb/left/state")
+     (cons :action-type control_msgs::FollowJointTrajectoryAction)
+     (cons :joint-names (list "left_s0" "left_s1" "left_e0" "left_e1" "left_w0" "left_w1")))))
+  (:rarm-controller ()
+   (list
+    (list
+     (cons :controller-action "/robot/limb/right/follow_joint_trajectory")
+     (cons :controller-state "/robot/limb/right/state")
+     (cons :action-type control_msgs::FollowJointTrajectoryAction)
+     (cons :joint-names (list "right_s0" "right_s1" "right_e0" "right_e1" "right_w0" "right_w1")))))
+  )
+
+(defun baxter-init ()
+  (if (not (boundp '*ri*))
+      (setq *ri* (instance baxter-interface :init)))
+  (if (not (boundp '*baxter*))
+      (setq *baxter* (instance baxter-robot :init)))
+  )